A finger and suction cup combined double-spore mushroom picking end effector

Abstract

The present application relates to the technical field of agricultural equipment, and aims to provide a finger and suction cup combined double-spore mushroom picking end effector, which has the characteristics of high picking quality, simple structure and high working efficiency. The technical scheme is a finger and suction cup combined double-spore mushroom picking end effector, characterized in that the end effector comprises a gripper mechanism for picking double-spore mushrooms, a suction cup mechanism for adsorbing double-spore mushrooms, and a driving mechanism for driving the gripper mechanism and the suction cup mechanism to rotate and stretch.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of agricultural equipment, and particularly relates to a finger and suction cup combined double-spore mushroom picking end effector. BACKGROUND

[0002] As a world-wide cultivated and consumed mushroom crop, double-spore mushroom has the advantages of low production cost, short growth cycle and high economic benefit, and is very popular in China. In daily life, in order to ensure that double-spore mushrooms have excellent quality and perfect appearance, most of the double-spore mushrooms need to be harvested by artificial labor. However, artificial harvesting has high labor intensity, and therefore the demand for double-spore mushroom picking mechanization and automation is very urgent. The end effector as the core device of the picking robot plays a crucial role in the picking quality of double-spore mushrooms.

[0003] A Chinese invention patent with the patent number CN114747432A discloses a non-destructive double-spore mushroom picking manipulator and a picking method thereof. The picking manipulator is composed of a picking claw and a bending assembly connected with each other. An arc-shaped inner gear strip is arranged on an arc-shaped track. The arc-shaped inner gear strip is in meshing connection with a driving outer gear. The picking claw is fixedly installed at the lower end of the arc-shaped track. A motor drives the arc-shaped guide rail, the picking claw and the to-be-picked mushroom to rotate around the mushroom root to achieve the picking purpose. However, the structure of the invention is too complex, and since the diameter of the picking claw is fixed, the picking effect of the double-spore mushrooms with different cap diameters cannot be good.

[0004] A Chinese invention patent with the patent number CN111955289A discloses an end effector of a double-spore mushroom picking robot. The end effector includes a connecting shell, a torque motor, a clamping mechanism, a motor controller, a torque sensor and a double-spore mushroom picking mechanism realized by the opening and closing of a parallelogram mechanism. However, since the internal control system is too complex, it is not easy to repair when the control system is damaged. SUMMARY

[0005] The purpose of the present invention is to overcome the deficiencies in the background art, and to provide a finger and suction cup combined double-spore mushroom picking end effector. The end effector should have the characteristics of high picking quality, simple structure and high working efficiency.

[0006] The technical solution of the present invention is as follows:

[0007] A finger and suction cup combined double-spore mushroom picking end effector, characterized in that the end effector includes a grabbing mechanism for grabbing double-spore mushrooms, a suction cup mechanism for adsorbing double-spore mushrooms, and a driving mechanism for driving the grabbing mechanism and the suction cup mechanism to rotate and stretch.

[0008] The gripper mechanism comprises three fingers arranged around a suction cup mechanism; the fingers comprise a connecting end, a first knuckle, a second knuckle, a third knuckle and a fourth knuckle arranged in sequence and rotatably hinged front and back; the fingers further comprise a rope drive assembly for driving all knuckles to bend simultaneously and torsion springs for driving each knuckle to open respectively.

[0009] The rope drive assembly comprises a rope drive motor, a main pulley fixed with a rotating shaft of the rope drive motor, auxiliary pulleys fixed with rotating shafts of the respective knuckles, and a drive rope wound on the main pulley and all auxiliary pulleys simultaneously; two ends of the drive rope are fixed with the main pulley and the auxiliary pulley at the end respectively; the auxiliary pulleys comprise a first auxiliary pulley, a second auxiliary pulley, a third auxiliary pulley and a fourth auxiliary pulley.

[0010] The suction cup mechanism comprises an inner suction cup, a vacuum chamber arranged on the top of the inner suction cup, an air pump communicated with the vacuum chamber through a conduit, and an outer suction cup surrounding the inner suction cup; the center of the inner suction cup is provided with a through hole communicated with the vacuum chamber.

[0011] The inner walls of the inner suction cup and the outer suction cup are provided with flexible buffer pads.

[0012] The driving mechanism comprises an upper frame, a lower frame rotatably positioned on the upper frame, an extension frame slidably positioned on the lower frame, a rotating motor, a rotating transmission assembly for transmitting the driving force of the rotating motor to drive the lower frame to rotate, an extension motor, and an extension transmission assembly for transmitting the driving force of the extension motor to drive the extension frame to move.

[0013] The extension frame is slidably positioned on the lower frame through a guide rod; the connecting end of the finger is fixed with the extension frame; and the suction cup mechanism is fixed with the guide rod.

[0014] The rotating transmission assembly comprises a first rotating gear fixed with a rotating shaft of the rotating motor and a second rotating gear fixed with a rotating shaft of the lower frame and engaged with the first rotating gear.

[0015] The extension transmission assembly comprises a first connecting rod fixed with a rotating shaft of the extension motor, a second connecting rod rotatably hinged on the first connecting rod, a sliding groove arranged on the extension frame, and a pin shaft arranged on the second connecting rod and slidable along the sliding groove.

[0016] The present application has the following advantages:

[0017] The present application adopts the combination of fingers and suction cups to grab agaricus bisporus, and then completes the grabbing by the combination of rotation and movement, effectively improving the picking efficiency; the present application adopts the nested structure composed of inner suction cups and outer suction cups to meet the picking demand of agaricus bisporus with different sizes of caps, and installs flexible buffer pads in the suction cups to prevent the picking damage caused by the direct contact between the suction cups and the mushroom surface, effectively protecting the target mushroom during the picking process; the overall structure of the present application is simple and easy to maintain, and the picking quality is high, which effectively improves the picking efficiency under the condition of ensuring the picking quality. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective structural schematic view of the present application.

[0019] Figure 2 is a schematic view of the rotary transmission assembly of the present application.

[0020] Figure 3 is a schematic view of the telescopic transmission assembly of the present application.

[0021] Figure 4 is a perspective structural schematic view of the finger of the present application.

[0022] Figure 5 is a perspective structural schematic view of the rope driving assembly of the present application.

[0023] Figure 6 is a perspective structural schematic view of the telescopic frame of the present application.

[0024] Figure 7 is a perspective structural schematic view of the suction mechanism of the present application.

[0025] Figure 8 is a perspective structural schematic view of the suction mechanism of the present application.

[0026] Figure 9 is a schematic view of the connection relationship of the upper frame, the lower frame and the telescopic frame of the present application.

[0027] Figure 10 is a schematic view of one of the working steps of the present application.

[0028] Figure 11 is a schematic view of the working steps of the present application.

[0029] Reference signs:

[0030] The gripper mechanism 1, the suction cup mechanism 2, the driving mechanism 3, the connecting end 100, the first finger joint 101, the second finger joint 102, the third finger joint 103, the fourth finger joint 104, the rope driving motor 111, the main pulley 112, the driving rope 113, the first auxiliary pulley 131, the second auxiliary pulley 132, the third auxiliary pulley 133, the fourth auxiliary pulley 134, the inner suction cup 201, the outer suction cup 203, the air pump 202, the vacuum chamber 205, the through hole 204, the conduit 206, the upper rack 301, the lower rack 302, the telescopic rack 303, the rotary motor 304, the telescopic motor 305, the guide rod 306, the first rotary gear 311, the second rotary gear 312, the first connecting rod 321, the second connecting rod 322, the sliding groove 323, the pin shaft 324, the connecting plate 325, the top plate 326, the mushroom cap A, and the mushroom stem B. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0032] As shown in Figure 1 A finger and suction cup combined Agaricus bisporus picking end effector, comprising a gripper mechanism 1, a suction cup mechanism 2, and a driving mechanism 3. The gripper mechanism is used to grasp Agaricus bisporus, the suction cup mechanism is used to adsorb Agaricus bisporus, and the driving mechanism is used to drive the gripper mechanism and the suction cup mechanism to rotate and stretch.

[0033] The gripper mechanism comprises a plurality of fingers, which are uniformly arranged around the suction cup mechanism. Each finger comprises a connecting end 100, a first finger joint 101, a second finger joint 102, a third finger joint 103, a fourth finger joint 104, a rope driving assembly, and a torsional spring.

[0034] The connecting end, the first finger joint, the second finger joint, the third finger joint, and the fourth finger joint are arranged in sequence from front to back. The first finger joint is rotatably hinged to the connecting end through a first hinge shaft (the first finger joint is fixed to the first hinge shaft), the second finger joint is rotatably hinged to the first finger joint through a second hinge shaft (the second finger joint is fixed to the second hinge shaft), the third finger joint is rotatably hinged to the second finger joint through a third hinge shaft (the third finger joint is fixed to the third hinge shaft), and the fourth finger joint is rotatably hinged to the third finger joint through a fourth hinge shaft (the fourth finger joint is fixed to the fourth hinge shaft). The above-mentioned hinge shafts are omitted in the figure.

[0035] The torsional springs are respectively arranged between the joints of the fingers to drive the joints to open. The torsional springs include a first torsional spring arranged between the connecting end and the first joint, a second torsional spring arranged between the first joint and the second joint, a third torsional spring arranged between the second joint and the third joint, and a fourth torsional spring arranged between the third joint and the fourth joint. The torsional springs are omitted in the figure.

[0036] The first torsional spring is sleeved on the first hinge shaft, and the two torsional arms thereof are respectively fixed with the connecting end and the first joint. The second torsional spring is sleeved on the second hinge shaft, and the two torsional arms thereof are respectively fixed with the first joint and the second joint. The third torsional spring is sleeved on the third hinge shaft, and the two torsional arms thereof are respectively fixed with the second joint and the third joint. The fourth torsional spring is sleeved on the fourth hinge shaft, and the two torsional arms thereof are respectively fixed with the third joint and the fourth joint.

[0037] The rope driving assembly is used to drive all the joints of the same finger to bend simultaneously. The rope driving assembly includes a rope driving motor 111, a main pulley 112, a plurality of auxiliary pulleys, and a driving rope 113. The rope driving motor is fixed with the connecting end, and the main pulley is fixed with the rotating shaft of the rope driving motor. The auxiliary pulleys include a first auxiliary pulley 131 fixed with the first hinge shaft, a second auxiliary pulley 132 fixed with the second hinge shaft, a third auxiliary pulley 133 fixed with the third hinge shaft, and a fourth auxiliary pulley 134 fixed with the fourth hinge shaft.

[0038] The driving rope is wound on the main pulley and the auxiliary pulleys simultaneously, and the two ends of the driving rope are respectively fixed with the main pulley and the auxiliary pulley at the end. The driving rope is wound on the main pulley first, then wound on the first auxiliary pulley, the second auxiliary pulley, and the third auxiliary pulley in sequence, and finally wound on the fourth auxiliary pulley. The winding directions of the driving rope on the main pulley and the auxiliary pulleys are the same.

[0039] The number of the fingers is three, which directly affects the grasping range, grasping force, stability, and the like of the grasping mechanism. Generally, in order to maintain the balance of the force applied to the object, at least two forces in different directions need to be applied to the surface of the object. Therefore, theoretically, two fingers can complete the grasping of the object, but it is difficult to maintain stable grasping, especially when grasping irregular objects. A suitable grasping point needs to be planned on the object to successfully complete the grasping task. When more than two fingers are arranged, stable grasping can be realized by force closure. For the task of picking double-spore mushrooms, three fingers can realize stable grasping and avoid the problems of poor flexibility and complex control system caused by too many fingers.

[0040] The suction disc mechanism comprises an inner suction disc 201, an outer suction disc 203, and a gas pump 202. The top of the inner suction disc is provided with a vacuum chamber 205, and the center of the inner suction disc is provided with a plurality of through holes 204 communicating with the inner cavity of the vacuum chamber. The gas pump is connected to the vacuum chamber through a conduit 206. The outer suction disc is arranged outside the inner suction disc and surrounds the periphery of the inner suction disc. The inner wall of the inner suction disc and the outer suction disc is provided with a flexible buffer pad (omitted in the figure). The inner suction disc and the outer suction disc are both horn-shaped with the smaller end fixed to the vacuum chamber and the larger end used for adhering to the double-spore mushroom.

[0041] The nested structure of the inner suction disc and the outer suction disc can adapt to the picking requirements of double-spore mushrooms of different sizes. When facing smaller double-spore mushrooms, the inner suction disc adheres to the cap of the double-spore mushroom, the opening edge of the inner suction disc contacts the cap, and a negative pressure is formed between the inner suction disc and the cap to achieve adsorption. When facing larger double-spore mushrooms, the outer suction disc adheres to the cap of the double-spore mushroom, the opening edge of the outer suction disc contacts the cap, and a negative pressure is formed between the outer suction disc and the cap to achieve adsorption.

[0042] The driving mechanism comprises an upper rack 301, a lower rack 302, a telescopic rack 303, a rotating motor 304, a telescopic motor 305, a rotating transmission assembly, and a telescopic transmission assembly.

[0043] The upper rack is fixed to an external arm (omitted in the figure), the lower rack is rotatably positioned on the upper rack (below the upper rack), Figure 1 the telescopic rack is slidably positioned on the lower rack (below the lower rack), Figure 1 the rotating motor is fixed to the upper rack, the rotating transmission assembly is used to transmit the power of the rotating motor to drive the lower rack to rotate, the telescopic motor is fixed to the lower rack, and the telescopic transmission assembly is used to transmit the power of the telescopic motor to drive the telescopic rack to move.

[0044] The rotating transmission assembly comprises a first rotating gear 311 and a second rotating gear 312. The first rotating gear is fixed to the rotating shaft of the rotating motor, and the second rotating gear is fixed to the rotating shaft of the lower rack and engaged with the first rotating gear.

[0045] The telescopic transmission assembly comprises a first connecting rod 321, a second connecting rod 322, a sliding groove 323, and a pin shaft 324. One end of the first connecting rod is fixed to the rotating shaft of the telescopic motor, one end of the second connecting rod is rotatably hinged to the other end of the first connecting rod, the other end of the second connecting rod is provided with a pin shaft, a connecting plate 325 with a sliding groove is arranged on the telescopic rack, and the pin shaft can slide along the sliding groove.

[0046] The lower rack is provided with three guide rods 306, the telescopic rack is slidably positioned on the guide rods, and the top plate 326 of the vacuum chamber is fixed to the guide rods (the lower end of the guide rod in the figure). The connecting end of the finger is fixed to the telescopic rack.

[0047] The executor further comprises a controller (omitted in the figure), a camera (omitted in the figure) arranged on the fourth phalange. The fourth phalange of each finger is provided with a camera. The controller is electrically connected with the camera, the telescopic motor, the rotating motor, the rope-driven motor and the air pump.

[0048] The components of the present application are all prior art and can be purchased.

[0049] The working principle of the executor is as follows:

[0050] 1. The picking starts. The external arm drives the executor to move above the mature agaricus bisporus (A) Figure 10 );

[0051] 2. The external arm drives the executor to descend. The suction cup mechanism contacts the agaricus bisporus. The inner or outer suction cup of the suction cup mechanism is attached to the cap A of the agaricus bisporus. The air pump is started. The inner or outer suction cup of the suction cup mechanism and the cap generate negative pressure to suck the agaricus bisporus.

[0052] 3. The rope-driven motor is started. The three fingers are closed to grab the cap of the agaricus bisporus.

[0053] 4. The telescopic motor is started. The grabbing mechanism is driven to ascend through the telescopic transmission assembly. Meanwhile, the rotating motor is started. The grabbing mechanism and the suction cup mechanism are driven to rotate through the rotating transmission assembly, simulating the picking action in manual operation, separating the stem B of the agaricus bisporus from the base soil (A) Figure 11 );

[0054] The cap of the agaricus bisporus is slightly squeezed by the grabbing mechanism and the suction cup mechanism, and the suction cup mechanism completely sucks the agaricus bisporus.

[0055] 5. The external arm drives the executor to move above the collection box. The air pump is closed. The rope-driven motor is reversed. The torsional spring drives the fingers to open. The agaricus bisporus falls into the collection box. The picking is completed.

[0056] The preferred embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms and is not limited to the embodiments described in the specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

Claims

1. A finger and suction cup combined Agaricus bisporus picking end effector, characterized by: The executor includes a gripper mechanism (1) for grabbing agaricus bisporus, a suction cup mechanism (2) for adsorbing agaricus bisporus, and a driving mechanism (3) for driving the rotation and extension of the gripper mechanism and the suction cup mechanism. The gripper mechanism includes three fingers arranged around the suction cup mechanism; the fingers include a connecting end (100), a first knuckle (101), a second knuckle (102), a third knuckle (103), and a fourth knuckle (104) arranged in sequence and pivotally connected front and back; the fingers further include a rope driving assembly for bending all knuckles simultaneously and a torsional spring for opening each knuckle. The rope driving assembly includes a rope driving motor (111), a main pulley (112) fixed to the rotating shaft of the rope driving motor, a plurality of auxiliary pulleys fixed to the hinge shafts of the knuckles, and a driving rope (113) wound around the main pulley and all auxiliary pulleys; the two ends of the driving rope are fixed to the main pulley and the auxiliary pulley at the end, respectively; the auxiliary pulleys include a first auxiliary pulley (131), a second auxiliary pulley (132), a third auxiliary pulley (133), and a fourth auxiliary pulley (134). The suction cup mechanism includes an inner suction cup (201), a vacuum chamber (205) arranged on the top of the inner suction cup, a gas pump (202) connected to the vacuum chamber through a conduit, and an outer suction cup (203) surrounding the inner suction cup; the center of the inner suction cup is provided with a through hole (204) connected to the vacuum chamber. The driving mechanism includes an upper rack (301), a lower rack (302) pivotally positioned on the upper rack, an extension rack (303) slidably positioned on the lower rack, a rotating motor (304), a rotating transmission assembly for transmitting the power of the rotating motor to drive the rotation of the lower rack, an extension motor (305), and an extension transmission assembly for transmitting the power of the extension motor to drive the movement of the extension rack.

2. The finger and suction cup combined Agaricus bisporus picking end- effector according to claim 1, characterized in that: The inner wall of the inner suction cup and the outer suction cup is provided with a flexible buffer pad.

3. The finger and suction cup combined Agaricus bisporus picking end- effector according to claim 2, wherein: The extension rack is slidably positioned on the lower rack through a guide rod (306); the connecting end of the finger is fixed to the extension rack; the suction cup mechanism (2) is fixed to the guide rod (306).

4. The finger and suction cup combined Agaricus bisporus picking end- effector of claim 3, wherein: The rotating transmission assembly includes a first rotating gear (311) fixed to the rotating shaft of the rotating motor and a second rotating gear (312) fixed to the rotating shaft of the lower rack and engaged with the first rotating gear.

5. The finger and suction cup combined Agaricus bisporus picking end- effector according to claim 4, wherein: The extension transmission assembly includes a first connecting rod (321) fixed to the rotating shaft of the extension motor, a second connecting rod (322) pivotally connected to the first connecting rod, a sliding groove (323) arranged on the extension rack, and a pin shaft (324) arranged on the second connecting rod and slidable along the sliding groove.

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